#pragma once
#include"common_tool/clampPid.h"
#include "ros/ros.h"
#include <dynamic_reconfigure/server.h>
#include<pure_pursuit_pkg/speedPidConfig.h>
class speedPid:public clampPid
{
    public:
        dynamic_reconfigure::Server<pure_pursuit_pkg::speedPidConfig> server; 
        speedPid(double Kp_local=0,double Ki_local=0,double Kd_local=0,double deltaTime_local=0);
        speedPid( double Kp_local,double Ki_local,double Kd_local,\
                double deltaTime_local,\
                double downLimit_local,\
                double upLimit_local,\
                double IntergrationDownLimit_local,\
                double  IntergrationUplimit_local );
        void parameterReconfigCB(pure_pursuit_pkg::speedPidConfig &config);
        
};